#!/usr/bin/env python3
# pylint: disable=C0103
import sys
from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, double_t, bool_t

PACKAGE = "sr_grasp"

gen = ParameterGenerator()

gen.add("interpolation_rate", double_t, 0,
        "Rate (hz) to run the movement interpolation. 1hz would be 1% of motion per second.",
        100, 0.1, 1000.0)

gen.add("force_threshold", double_t, 0,
        "Force on sensor needed to stop finger moving during the grasp. Range depends on sensor " +
        "will be small for Nano style (0.0..8.0ish) large for PST (0..1000ish).",
        0.3, 0.0, 1000.0)

gen.add("squeeze", double_t, 0,
        "Percentage of grasp to move after all in contact",
        4.0, 0.0, 100.0)

gen.add("first_contact_only", bool_t, 0,
        "When true stop finger after first contact made. When false the finger will restart if contact is lost.",
        False)

sys.exit(gen.generate(PACKAGE, "grasp", "Grasp"))
